Multi-equipment combined storage and transportation method and system for refrigeration house without goods shelf
Through the multi-equipment joint warehousing and transportation method, the coordinated work of multiple transport vehicles and stacked vehicles is used to solve the problems of low transportation efficiency, air loss and high cost in the existing unmanned warehousing system, and efficient and low-cost cargo handling and inventory management are achieved.
Patent Information
- Application Number
- CN202510690711.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-27
- Publication Date
- 2025-07-11
AI Technical Summary
The existing unmanned warehousing system relies on a single equipment to perform transportation tasks, resulting in low transportation efficiency, time-consuming and insufficient flexibility in posture adjustment, frequent door opening and closing of cold storage leads to air loss, high refrigeration costs, lots of manual intervention, high risk of mixed goods and handling errors, and high cost piles and insufficient performance of the vehicle body.
The multi-equipment joint warehousing and transportation method is adopted to work together with a pile of high-rise vehicles, reduce posture adjustment time, improve flexibility and efficiency, reduce the number of cold storage door switches, reduce refrigeration costs, and use latent transportation vehicles and unmanned piled forklifts for efficient cargo handling.
It improves the flexibility and efficiency of cargo handling, reduces overall operating costs, reduces air conditioning loss and manual intervention, and reduces the risk of cargo confusion and handling errors.
Smart Images
Figure CN120288406A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of cold chain warehousing logistics, and particularly to a multi-device combined warehousing and transportation method and system for a shelf-less cold storage. Background Art
[0002] In current cold chain warehousing, the application of unmanned devices has partially reduced labor costs and decreased inventory management errors during manual handling. Some systems use a single unmanned forklift to perform transportation tasks, initially achieving automated cargo handling and improving operational efficiency in specific scenarios.
[0003] However, existing unmanned warehousing systems rely on a single device to perform transportation tasks and have the following defects: First, the transportation efficiency of a single device is low, the posture adjustment is time-consuming, and the flexibility is insufficient; Second, the frequent opening and closing of the cold storage door leads to cold air loss, and the refrigeration cost accounts for more than half of the total operating cost. In addition, there is still a lot of manual intervention, and the risks of cargo mixing and handling errors are relatively high; In addition, the high-cost stacking vehicle body does not fully exert its efficiency, and the equipment configuration cost is high. Summary of the Invention
[0004] The purpose of the present invention is to provide a multi-device combined warehousing and transportation method and system for a shelf-less cold storage, so as to solve the problems existing in the prior art that the existing unmanned warehousing system relies on a single device to perform transportation tasks, including: First, the transportation efficiency of a single device is low, the posture adjustment is time-consuming, and the flexibility is insufficient; Second, the frequent opening and closing of the cold storage door leads to cold air loss, and the refrigeration cost accounts for more than half of the total operating cost. In addition, there is still a lot of manual intervention, and the risks of cargo mixing and handling errors are relatively high; In addition, the high-cost stacking vehicle body does not fully exert its efficiency, and the equipment configuration cost is high.
[0005] To achieve the above purpose, the present invention provides a multi-device combined warehousing and transportation method for a shelf-less cold storage, and the multi-device combined warehousing and transportation method for a shelf-less cold storage includes the following steps:
[0006] Step S1: Goods are transported by a truck to the platform. Workers unload the goods in the truck onto a pallet. After the loading and unloading of the goods are completed, the workers use a pallet jack to transfer the pallet with the stacked goods to the picking area;
[0007] Step S2: When all the goods are placed, the workers confirm the information of the goods in the current picking area and arrange the corresponding in-warehouse goods placement area and transportation vehicle body. After completion, by issuing a task, the vehicle body located in the standby charging area starts to execute after receiving the task;
[0008] Step S3: After receiving the task, the stacking vehicle body autonomously navigates to the target placement point of the goods to wait. Multiple transportation vehicle bodies will synchronously go to the picking area to pick up the pallet goods corresponding to their own tasks. When the transportation vehicle body obtains the goods to be picked up for its own task, the vehicle body navigates to the in-warehouse waiting area to wait;
[0009] Step S4: After all the transport vehicles used for this task have completed picking up goods and entered the storage waiting area, the transport vehicles send confirmation messages. After the system confirms that all vehicles have arrived, it issues an instruction to open the warehouse door. All the vehicles enter together. The system determines that all the vehicles have entered the warehouse based on the vehicle positioning data, and then issues an instruction to close the warehouse door.
[0010] Step S5: After the transport vehicles enter the warehouse, they navigate to the handover waiting area in the target area and wait to dock with the stacking vehicles for goods handover. When the stacking vehicles arrive, the transport vehicles drive vertically to the stacking vehicles in sequence and stop. The stacking vehicles start to pick up the goods, and pick up the pallets and goods on the transport vehicles.
[0011] Step S6: When the stacking vehicles confirm that they have picked up the goods and the transport vehicles confirm that the goods have been taken away, the transport vehicles drive to the waiting area in the warehouse. The stacking vehicles perform the task of stacking and placing the goods. This continues until all the goods of the transport vehicles in the warehouse have been stacked.
[0012] Step S7: When all the transport vehicles have completed the current transport task and arrived at the waiting area in the warehouse, the warehouse door is opened. All the transport vehicles confirm that the warehouse door is open and drive out of the warehouse together. All the transport vehicles driving out of the warehouse perform synchronous actions according to the instructions of continuing the task or ending the task.
[0013] Among them, in Step S1, the picking area is composed of fixed goods shelves. The bottom of the shelves can be passed through by the latent transport vehicles. The middle part of the shelves is hollow. The latent transport vehicles pass through to reach the center of the shelves and then are lifted by the lifting device to complete the picking action.
[0014] Among them, in Step S4, cameras are installed on the transport vehicles, and the cameras are used to determine whether the warehouse door is open.
[0015] Among them, in Step S5, each transport vehicle delivers the goods in front of the stacking vehicles in the warehouse. The stacking vehicles only perform the actions of picking up and placing the goods back and forth, and do not need to adjust the left - right posture.
[0016] Among them, in Step S6, the state of whether the goods have been picked up is judged by the pressure value of the pressure gauge on the forklift forks, and the state of whether the goods have been taken away is judged by the pressure gauge value on the transport vehicle.
[0017] Among them, in step S7, if the current task has not completed the inbound work of all goods, the task continues to arrange for the transportation vehicle body to go to the picking area to pick up goods, and the above steps are repeated until the task is completely completed; if all the goods in the picking area have been put into storage, the task ends, and a task end command is issued. All transportation vehicle bodies continue to execute the collective outbound command. After confirming that all outbound vehicle bodies are in place via the in-warehouse waiting area, the warehouse door opens, and the vehicle bodies go to the standby charging area for charging and standby.
[0018] Among them, the present invention also provides a joint warehousing and transportation system for a shelfless cold storage with multiple devices, which is applied to the above-mentioned joint warehousing and transportation method for a shelfless cold storage with multiple devices. The joint warehousing and transportation system for a shelfless cold storage with multiple devices includes a warehousing management module, a vehicle body control module, a visual monitoring module, a collaborative communication module, and a system bus terminal. The warehousing management module includes a server unit, an internal memory unit, a database unit, a network interface unit, and a management software unit. The vehicle body control module includes multiple transportation vehicle body units and a stacking vehicle body unit, and the warehousing management module, the vehicle body control module, the visual monitoring module, and the collaborative communication module are all connected to the system bus terminal;
[0019] The warehousing management module is used for task scheduling and data management;
[0020] The vehicle body control module is used to implement the path planning of the stacking vehicle body and the transportation vehicle body;
[0021] The visual monitoring module is used to photograph and identify the goods in the picking area, and generate a corresponding information table for each pallet of goods;
[0022] The collaborative communication module is used to synchronize the status of all vehicle bodies and the warehouse door control instructions.
[0023] A joint warehousing and transportation method and system for a shelfless cold storage with multiple devices according to the present invention, through the deployment mode of deploying multiple transportation vehicle bodies in cooperation with one stacking vehicle body, enables multiple transportation vehicle bodies to perform long-distance handling tasks, improves the flexibility and efficiency of goods during handling, allows the stacking vehicle body to wait near the goods placement point for the small vehicle to deliver goods for docking, and only performs stacking and forward and backward movements, reducing the time for pose adjustment, thereby achieving the purpose of improving the overall efficiency and reducing the overall cost. Moreover, the cost of a single stacking vehicle body is 5 times that of a single AGV vehicle body. At the same time, a multi-vehicle collaborative inbound and outbound mode is adopted to improve the efficiency of vehicle body goods inbound and outbound and reduce the opening time of the warehouse door, thereby realizing the reduction of refrigeration costs. Description of the Drawings
[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0025] Figure 1 is the step flowchart of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0026] Figure 2 is the multi-stage flowchart of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0027] Figure 3 is the schematic principle diagram of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0028] Figure 4 is the schematic diagram of the in-warehouse vehicle body docking execution of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0029] Figure 5 is the task schematic diagram of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0030] Figure 6 is the schematic diagram of the visual monitoring module in the picking area and the picking of the transportation vehicle body unit in the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0031] Figure 7 is the multi-vehicle collaborative inbound flowchart of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0032] Figure 8 is the multi-vehicle collaborative outbound flowchart of the multi-device combined warehousing and transportation method and system for a shelfless cold storage provided by the present invention.
[0033] 1 - Warehousing management module, 2 - Vehicle body control module, 3 - Visual monitoring module, 4 - Collaborative communication module, 5 - System bus end, 6 - Server unit, 7 - Internal memory unit, 8 - Database unit, 9 - Network interface unit, 10 - Management software unit, 11 - Transportation vehicle body unit, 12 - Stacker vehicle body unit. Detailed implementation manners
[0034] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.
[0035] Please refer to Figures 1 to 8 , the present invention provides a multi-device combined warehousing and transportation method for a shelfless cold storage. The multi-device combined warehousing and transportation method for the shelfless cold storage includes the following steps:
[0036] Step S1: Goods are transported by a truck to the platform. Workers unload the goods in the truck onto a pallet. After the loading and unloading of the goods are completed, the workers use a pallet jack to transfer the pallet with the stacked goods to the picking area.
[0037] Step S2: When all the goods are placed, the worker confirms the information of the goods in the current picking area and arranges the corresponding in-warehouse goods placement area and transportation vehicle body. After completion, by issuing a task, the vehicle body located in the standby charging area starts to execute after receiving the task.
[0038] Step S3: After receiving the task, the stacker vehicle autonomously navigates to the target goods placement point to wait. Multiple transportation vehicle bodies will synchronously go to the picking area to pick up the pallet goods corresponding to their own tasks. When the transportation vehicle body obtains the goods it is tasked to pick up, the vehicle body navigates to the inbound waiting area to wait.
[0039] Step S4: When all the transportation vehicle bodies used in this task have picked up the goods and entered the inbound waiting area, the transportation vehicle body sends an information confirmation. After the system confirms that all the vehicle bodies are in place, it issues an instruction to open the warehouse door. All the vehicle bodies enter together. The system determines that all the vehicle bodies have entered the warehouse based on the vehicle body positioning data and issues an instruction to close the warehouse door.
[0040] Step S5: After the transportation vehicle body enters the warehouse, it navigates to the handover waiting area of the target area to wait for docking with the stacker vehicle body for goods handover. When the stacker vehicle body arrives, the transportation vehicle body drives in sequence until it is perpendicular to the stacker vehicle body and stops. The stacker vehicle body starts to pick up the goods and picks up the pallet and goods on the transportation vehicle body.
[0041] Step S6: When the stacker vehicle body confirms that the goods have been picked up and the transportation vehicle body confirms that the goods have been taken away, the transportation vehicle body drives to the in-warehouse waiting area. The stacker vehicle body executes the task of stacking and placing the goods. This continues until all the goods of all the in-warehouse transportation vehicle bodies have been stacked.
[0042] Step S7: When all the transport vehicle bodies complete the current transportation task and reach the in-warehouse waiting area, open the warehouse door. All the transport vehicle bodies confirm that the warehouse door is open and drive out of the warehouse together. All the transport vehicle bodies that have driven out of the warehouse perform synchronous actions according to the instructions of continuing the task or ending the task.
[0043] In this embodiment, a multi-vehicle collaborative in-out warehouse scheme is adopted. Through system control and allocation, multiple vehicle bodies and goods are arranged to enter and exit the warehouse together in a single time. The vehicle bodies to enter and exit the warehouse will wait in the in-out warehouse waiting area after being confirmed by the system until all the vehicle bodies for single in-out warehouse in the task are in place. Only then will the system issue an instruction to open the door, achieving the goal of opening the door once to let in multiple vehicles of goods, greatly improving the efficiency of goods in and out of the warehouse, reducing the number of openings and closings of the cold storage door, reducing the loss of cold air, thus improving efficiency and reducing costs.
[0044] Further, in step S1, the picking area is composed of fixed storage shelves. The bottom of the shelves can be passed through by the latent transport vehicle body. The middle part of the shelves is hollow. The latent transport vehicle body passes through to reach the center of the shelves and then is lifted by the lifting device to complete the picking action.
[0045] Further, in step S4, a camera is installed on the transport vehicle body. The camera is used to determine whether the warehouse door is open.
[0046] In this embodiment, the transport vehicle body is an unmanned latent vehicle body, which is responsible for the transportation of goods and the docking with the stacking vehicle body, and uses its high maneuverability and low-cost advantages to replace the stacking vehicle to perform the handling action.
[0047] Further, in step S5, each transport vehicle body delivers the goods in front of the stacking vehicle body in the warehouse. The stacking vehicle body only performs the actions of picking up and placing the goods back and forth and does not need to adjust its left and right postures.
[0048] In this embodiment, the stacking vehicle body is an unmanned stacking forklift, which is responsible for lifting, stacking, and placing the pallets and goods.
[0049] Further, in step S6, the state of whether the goods are inserted is judged by the pressure value of the pressure gauge on the forklift forks, and the state of whether the goods are taken away is judged by the pressure gauge value on the transport vehicle body.
[0050] Further, in step S7, continuing the task means that when the current task has not completed the inbound work of all the goods, an instruction to continue the task is issued to arrange the transport vehicle body to go to the picking area to pick up goods, and the above steps are repeated until the task is all completed; ending the task means that when all the goods in the picking area have been warehoused, an instruction to end the task is issued. All the transport vehicle bodies continue to execute the collective outbound instruction. After confirming that all the outbound vehicle bodies are in place via the in-warehouse waiting area, the warehouse door is opened, and the vehicle bodies go to the standby charging area for charging and standby.
[0051] Furthermore, the present invention also provides a multi-device combined warehousing and transportation system for a shelfless cold storage, which is applied to the above-mentioned multi-device combined warehousing and transportation method for a shelfless cold storage. The multi-device combined warehousing and transportation system for a shelfless cold storage includes a warehousing management module 1, a vehicle body control module 2, a visual monitoring module 3, a collaborative communication module 4, and a system bus terminal 5. The warehousing management module 1 includes a server unit 6, an internal memory unit 7, a database unit 8, a network interface unit 9, and a management software unit 10. The vehicle body control module 2 includes a plurality of transportation vehicle body units 11 and a stacking vehicle body unit 12. The warehousing management module 1, the vehicle body control module 2, the visual monitoring module 3, and the collaborative communication module 4 are all connected to the system bus terminal 5;
[0052] The warehousing management module 1 is used for task scheduling and data management;
[0053] The vehicle body control module 2 is used to implement the path planning of the stacking vehicle body and the transportation vehicle body;
[0054] The visual monitoring module 3 is used to photograph and identify the goods in the picking area, and generate a corresponding information table for each pallet of goods;
[0055] The collaborative communication module 4 is used to synchronize all vehicle body states and warehouse door control instructions.
[0056] In this embodiment, the warehousing management module 1, the vehicle body control module 2, the visual monitoring module 3, and the collaborative communication module 4 are connected and communicate through the system bus terminal 5, receive task information, operate the system and programs to obtain the information of the task and then execute the task, obtain goods information, monitor the status of the picking area, arrange vehicles and plan the handling route, open and close the entrance and exit doors, etc.
[0057] In this embodiment, the visual monitoring module 3 is composed of a depth vision camera installed at a high place, which is responsible for monitoring the goods and storage locations within the field of view, communicating with the system, updating the status of the picking area, and cooperating with the system for vehicle body and goods scheduling.
[0058] The above-disclosed is only a preferred embodiment of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the invention.
Claims
1. A multi-device combined warehousing and transportation method for a shelf-free cold storage, characterized in that, It includes the following steps: Step S1: The goods are transported to the platform by a truck. Workers unload the goods in the truck onto a pallet. After completing the loading and unloading of the goods, the workers use a pallet jack to transfer the pallet with the stacked goods to the picking area. Step S2: When all the goods are placed, the worker confirms the information of the goods in the current picking area and arranges the corresponding in-warehouse goods placement area and transport vehicle body. After completion, by issuing a task, the vehicle body in the standby charging area starts to execute after receiving the task. Step S3: After receiving the task, the stacker truck autonomously navigates to the target placement point of the goods and waits. Multiple transport vehicle bodies will synchronously go to the picking area to pick up the pallet goods corresponding to their own tasks. When the transport vehicle body picks up the goods it is tasked to pick up, the vehicle body navigates to the in-warehouse waiting area and waits. Step S4: When all the transport vehicle bodies used in this task have picked up the goods and entered the in-warehouse waiting area, the transport vehicle body sends an information confirmation. After the system confirms that all vehicle bodies are in place, it issues an instruction to open the warehouse door. All vehicle bodies enter together. The system determines that all vehicle bodies have entered the warehouse based on the vehicle body positioning data and issues an instruction to close the warehouse door. Step S5: After the transport vehicle body enters the warehouse, it navigates to the handover waiting area of the target area and waits to dock with the stacker truck for goods handover. When the stacker truck arrives, the transport vehicle body drives to a position perpendicular to the stacker truck in sequence and stops. The stacker truck starts to insert and pick up the goods, inserting and picking up the pallet and goods on the transport vehicle body. Step S6: When the stacker truck confirms the insertion and picking up of the goods and the transport vehicle body confirms that the goods have been taken away, the transport vehicle body drives to the in-warehouse waiting area. The stacker truck executes the task of stacking and placing the goods. This continues until all the goods of all the in-warehouse transport vehicle bodies are stacked. Step S7: When all the transport vehicle bodies complete the current transport task and reach the in-warehouse waiting area, the warehouse door is opened. All the transport vehicle bodies confirm that the warehouse door is opened and drive out of the warehouse together. All the transport vehicle bodies that drive out of the warehouse perform synchronous actions according to the instruction of continuing the task or ending the task.
2. The multi-device joint warehousing and transportation method for a shelf-less cold storage as claimed in claim 1, wherein In step S1, the picking area is composed of a fixed storage shelf. The bottom of the shelf can be passed through by a latent transport vehicle body. The middle part of the shelf is hollow. The latent transport vehicle body passes through to reach the center of the shelf and then is lifted by a lifting device to complete the picking action.
3. The multi-device joint warehousing and transportation method for a shelf-less cold storage as claimed in claim 2, wherein In step S4, a camera is provided on the transport vehicle body, and the camera is used to determine whether the warehouse door is opened.
4. The multi-device joint warehousing and transportation method for a shelf-less cold storage as claimed in claim 3, wherein In step S5, each transport vehicle body delivers the goods in front of the stacker truck in the warehouse. The stacker truck only performs the actions of picking up and placing the goods back and forth and does not need to adjust its left-right posture.
5. The multi-device joint warehousing and transportation method for a shelf-less cold storage as claimed in claim 4, wherein In step S6, the state of whether the goods are inserted and picked up is judged by the pressure value of the pressure gauge on the forklift fork, and the state of whether the goods have been taken away is judged by the pressure gauge value on the transport vehicle body.
6. The multi-device combined warehousing and transportation method for a shelf-less cold storage as claimed in claim 5, wherein in step S7, the task continues when the current task has not completed the inbound operation of all goods. The task is issued to continue arranging the transportation vehicle body to go to the picking area to pick up goods, and the above steps are repeated until the task is completely completed. The task ends when all goods in the picking area have been warehoused. The task end command is issued, and all transportation vehicle bodies continue to execute the outbound collective outbound instruction. After confirming that all outbound vehicle bodies are in place via the in-warehouse waiting area, the warehouse door is opened, and the vehicle bodies go to the standby charging area for charging and standby.
7. A multi-device combined warehousing and transportation system for a shelf-less cold storage, which is applied to the multi-device combined warehousing and transportation method for a shelf-less cold storage as claimed in claim 6, wherein the multi-device combined warehousing and transportation system for a shelf-less cold storage includes a warehousing management module, a vehicle body control module, a visual monitoring module, a collaborative communication module and a system bus terminal. The warehousing management module includes a server unit, an internal memory unit, a database unit, a network interface unit and a management software unit. The vehicle body control module includes a plurality of transportation vehicle body units and a stacking vehicle body unit, and the warehousing management module, the vehicle body control module, the visual monitoring module and the collaborative communication module are all connected to the system bus terminal; the warehousing management module is used for task scheduling and data management; the vehicle body control module is used to implement the path planning of the stacking vehicle body and the transportation vehicle body; the visual monitoring module is used to photograph and identify the goods in the picking area to generate a corresponding information table for each pallet of goods; the collaborative communication module is used to synchronize the status of all vehicle bodies and the warehouse door control instruction.